A gripping device for a robotic manipulation device adapted to grip and attach teat cups to an animal

摘要

The invention relates to a gripping device (12) for holding and manipulating a teat cup in a robotic milking apparatus. Robotic teat cup manipulation apparatus can be prone to contamination by manure during placement on the udder. The present invention significantly reduces this problem by providing a gripping device (12) for a robotic manipulation device (10) adapted to grip and attach teat cups (7) to an animal, wherein the gripping device (12), for each teat cup (7) to be gripped and attached, comprises: a holding member (18) configured to releasably hold said teat cup, and a power member (21) configured to lift said holding member (18) from a base position to a raised position in which said teat cup can be attached to a teat of an animal, the gripping device for each teat cup to be gripped and attached further comprising: a movable cover portion (16a) movably arranged between a covering position, in which it covers the opening of said teat cup, and a non-covering position, in which the opening of said teat cup (7) is exposed, wherein the action of said power member lifting said holding member from said base position to said raised position causes a movement of a teat cup gripped by the holding member to the raised position, which movement of the teat cup causes a movement of the movable cover portion from the covering position to the non-covering position.